For your viewing, reusing, tweaking, hacking, etc. pleasure... the C++ source code in it's entirety, along with a design document, have been released in the CD Media area, here:
http://www.chiefdelphi.com/media/papers/3088
Here's how to get our source code:
Code:
hg clone https://bitbucket.org/sciborgs4061/robot-2014
Constructive feedback is always welcome. Best of luck to all in 2015!